Pierre Fernbach

27 papers A* 4A 3C 1Journal 11Unranked 7
YearRankTypeTitle / Venue / Authors
2025 J jnl
Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane.
CoRR
Thanh D. V. Nguyen, Vincent Bonnet, Pierre Fernbach, David Daney, Florent Lamiraux
2024 — conf
Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric Parameters.
Humanoids
Thanh D. V. Nguyen, Vincent Bonnet, Pierre Fernbach, Thomas Flayols, Florent Lamiraux
2024 — conf
NAS: N-step computation of All Solutions to the footstep planning problem.
Humanoids
Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar, Steve Tonneau
2024 J jnl
NAS: N-step computation of All Solutions to the footstep planning problem.
CoRR
Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar, Steve Tonneau
2023 — conf
FIGAROH: A Python Toolbox for Dynamic Identification and Geometric Calibration of Robots and Humans.
Humanoids
Thanh D. V. Nguyen, Vincent Bonnet, Maxime Sabbah, Maxime Gautier, Pierre Fernbach, Florent Lamiraux
2022 — conf
Torque Controlled Locomotion of a Biped Robot with Link Flexibility.
Humanoids
Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse
2022 J jnl
Torque Controlled Locomotion of a Biped Robot with Link Flexibility.
CoRR
Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse
2022 — conf
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot.
Humanoids
Ewen Dantec, Maximilien Naveau, Pierre Fernbach, Nahuel A. Villa, Guilhem Saurel, Olivier Stasse, Michel Taïx, Nicolas Mansard
2021 A* conf
Learning to steer a locomotion contact planner.
ICRA
Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, Steve Tonneau
2021 J jnl
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization.
IEEE Robotics Autom. Lett.
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
2021 A* conf
Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos.
ICRA
Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard
2020 J jnl
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios.
IEEE Trans. Robotics
Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taïx
2020 A* conf
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion.
ICRA
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
2020 J jnl
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion.
CoRR
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
2020 J jnl
Motion Planning for an Elastic Rod Using Contacts.
IEEE Trans Autom. Sci. Eng.
Olivier Roussel, Pierre Fernbach, Michel Taïx
2020 — conf
Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots.
SII
Kevin Giraud-Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse
2020 A* conf
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain.
ICRA
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
2020 J jnl
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization.
CoRR
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
2019 — conf
Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner.
TAROS (1)
Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis
2019 J jnl
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner.
CoRR
Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis
2019 J jnl
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain.
CoRR
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
2018 J jnl
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios.
ACM Trans. Graph.
Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
2018 A conf
CROC: Convex Resolution of Centroidal Dynamics Trajectories to Provide a Feasibility Criterion for the Multi Contact Planning Problem.
IROS
Pierre Fernbach, Steve Tonneau, Michel Taïx
2018 — —
Modèles réduits fiables et efficaces pour la planification et l'optimisation de mouvement des robots à pattes en environnements contraints. (Efficient and accurate reduced models for motion planning and optimization for legged robots in constrained environments).
Pierre Fernbach
2017 A conf
A kinodynamic steering-method for legged multi-contact locomotion.
IROS
Pierre Fernbach, Steve Tonneau, Andrea Del Prete, Michel Taïx
2016 C conf
Ballistic motion planning for jumping superheroes.
MIG
Mylène Campana, Pierre Fernbach, Steve Tonneau, Michel Taïx, Jean-Paul Laumond
2016 A conf
HPP: A new software for constrained motion planning.
IROS
Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppala, Mylène Campana, Nicolas Mansard, Florent Lamiraux